OmniWarsaw: a City-Scale Omnidirectional Dataset
[ 1 ] Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ DW ] doktorant wdrożeniowy
[2.2] Automatyka, elektronika, elektrotechnika i technologie kosmiczne
2024
rozdział w monografii naukowej / referat
angielski
- omnidirectional camera
- object detection
- mobile mapping
EN In this work we introduce a novel, city-scale, omnidirectional SLAM dataset from a hand-held device. Dataset were collected using open-source open-hardware scanner consisting of non-repetitive scanning pattern Lidar (Livox Mid360) with integrated Inertial Measurement Unit (IMU), GNSS receiver, and a GoPro MAX omnidirectional camera. In total we recorded 188.73 km during in 30 separate session days. We provide raw lidar point clouds, IMU and GNSS readings, anonymized stitched imagery This paper introduces the dataset and describes the data format. Dataset can be accessed via project repository https://github.com/MapsHD/OmniWarsawDataset
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